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This commit is contained in:
@@ -473,7 +473,312 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
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class Asibfm700MountConfig : protected ConfigHolder<decltype(Asibfm700MountConfigDefaults)>
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class Asibfm700MountConfig : public mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>
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{
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using base_t = mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>;
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protected:
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inline static auto deserializer = []<typename VT>(std::string_view str, VT& value) {
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std::error_code ec{};
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if constexpr (std::is_arithmetic_v<VT> || mcc::traits::mcc_output_char_range<VT> || std::ranges::range<VT> ||
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mcc::traits::mcc_time_duration_c<VT>) {
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ec = base_t::defaultDeserializeFunc(str, value);
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} else if constexpr (std::same_as<VT, mcc::MccAngle>) { // assume here all angles are in degrees
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double vd;
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ec = base_t::defaultDeserializeFunc(str, vd);
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if (!ec) {
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value = mcc::MccAngle(vd, mcc::MccDegreeTag{});
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}
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} else if constexpr (std::same_as<VT, mcc::MccDefaultPCMType>) {
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std::string vstr;
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ec = base_t::defaultDeserializeFunc(str, vstr);
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if (!ec) {
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auto s = mcc::utils::trimSpaces(vstr);
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if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY>) {
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value = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
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} else if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE>) {
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value = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
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} else if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE>) {
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value = mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE;
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} else {
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ec = std::make_error_code(std::errc::invalid_argument);
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}
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}
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} else {
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ec = std::make_error_code(std::errc::invalid_argument);
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}
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return ec;
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};
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void updateAll()
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{
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hardwarePollingPeriod = getValue<decltype(hardwarePollingPeriod)>("hardwarePollingPeriod").value_or({});
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// CCTE
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siteLatitude = getValue<mcc::MccAngle>("siteLatitude").value_or({});
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siteLongitude = getValue<mcc::MccAngle>("siteLongitude").value_or({});
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siteElevation = getValue<double>("siteElevation").value_or({});
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refractWavelength = getValue<double>("refractWavelength").value_or({});
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leapSecondFilename = getValue<std::string>("leapSecondFilename").value_or({});
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bulletinAFilename = getValue<std::string>("bulletinAFilename").value_or({});
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// prohibited zones
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pzMinAltitude = getValue<mcc::MccAngle>("pzMinAltitude").value_or({});
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pzLimitSwitchHAMin = getValue<mcc::MccAngle>("pzLimitSwitchHAMin").value_or({});
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pzLimitSwitchHAMax = getValue<mcc::MccAngle>("pzLimitSwitchHAMax").value_or({});
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// hardware config
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servoControllerConfig.hwConfig = {};
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servoControllerConfig.MountDevPath = getValue<std::string>("MountDevPath").value_or({});
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servoControllerConfig.EncoderDevPath = getValue<std::string>("EncoderDevPath").value_or({});
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servoControllerConfig.EncoderXDevPath = getValue<std::string>("EncoderXDevPath").value_or({});
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servoControllerConfig.EncoderYDevPath = getValue<std::string>("EncoderYDevPath").value_or({});
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servoControllerConfig.devConfig.MountDevPath = servoControllerConfig.MountDevPath.data();
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servoControllerConfig.devConfig.EncoderDevPath = servoControllerConfig.EncoderDevPath.data();
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servoControllerConfig.devConfig.EncoderXDevPath = servoControllerConfig.EncoderXDevPath.data();
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servoControllerConfig.devConfig.EncoderYDevPath = servoControllerConfig.EncoderYDevPath.data();
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servoControllerConfig.devConfig.RunModel = getValue<int>("RunModel").value_or({});
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servoControllerConfig.devConfig.MountDevSpeed = getValue<int>("MountDevSpeed").value_or({});
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servoControllerConfig.devConfig.EncoderDevSpeed = getValue<int>("EncoderDevSpeed").value_or({});
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servoControllerConfig.devConfig.SepEncoder = getValue<int>("SepEncoder").value_or({});
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std::chrono::duration<double> secs; // seconds as floating-point
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secs = getValue<std::chrono::milliseconds>("MountReqInterval").value_or({});
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servoControllerConfig.devConfig.MountReqInterval = secs.count();
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secs = getValue<std::chrono::milliseconds>("EncoderReqInterval").value_or({});
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servoControllerConfig.devConfig.EncoderReqInterval = secs.count();
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secs = getValue<std::chrono::milliseconds>("EncoderSpeedInterval").value_or({});
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servoControllerConfig.devConfig.EncoderSpeedInterval = secs.count();
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std::vector<double> pid = getValue<std::vector<double>>("XPIDC").value_or({});
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if (pid.size() > 2) {
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servoControllerConfig.devConfig.XPIDC.P = pid[0];
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servoControllerConfig.devConfig.XPIDC.I = pid[1];
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servoControllerConfig.devConfig.XPIDC.D = pid[2];
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}
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pid = getValue<std::vector<double>>("XPIDV").value_or({});
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if (pid.size() > 2) {
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servoControllerConfig.devConfig.XPIDV.P = pid[0];
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servoControllerConfig.devConfig.XPIDV.I = pid[1];
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servoControllerConfig.devConfig.XPIDV.D = pid[2];
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}
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pid = getValue<std::vector<double>>("YPIDC").value_or({});
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if (pid.size() > 2) {
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servoControllerConfig.devConfig.YPIDC.P = pid[0];
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servoControllerConfig.devConfig.YPIDC.I = pid[1];
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servoControllerConfig.devConfig.YPIDC.D = pid[2];
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}
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pid = getValue<std::vector<double>>("YPIDV").value_or({});
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if (pid.size() > 2) {
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servoControllerConfig.devConfig.YPIDV.P = pid[0];
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servoControllerConfig.devConfig.YPIDV.I = pid[1];
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servoControllerConfig.devConfig.YPIDV.D = pid[2];
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}
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// slew and track parameters
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movingModelParams.telemetryTimeout =
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getValue<decltype(movingModelParams.telemetryTimeout)>("telemetryTimeout").value_or({});
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movingModelParams.minTimeToPZone =
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getValue<decltype(movingModelParams.minTimeToPZone)>("minTimeToPZone").value_or({});
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movingModelParams.updatingPZoneInterval =
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getValue<decltype(movingModelParams.updatingPZoneInterval)>("updatingPZoneInterval").value_or({});
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movingModelParams.slewToleranceRadius =
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getValue<decltype(movingModelParams.slewToleranceRadius)>("slewToleranceRadius").value_or({});
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movingModelParams.adjustCoordDiff =
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getValue<decltype(movingModelParams.adjustCoordDiff)>("adjustCoordDiff").value_or({});
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movingModelParams.adjustCycleInterval =
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getValue<decltype(movingModelParams.adjustCycleInterval)>("adjustCycleInterval").value_or({});
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movingModelParams.slewTimeout = getValue<decltype(movingModelParams.slewTimeout)>("slewTimeout").value_or({});
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movingModelParams.timeShiftToTargetPoint =
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getValue<decltype(movingModelParams.timeShiftToTargetPoint)>("timeShiftToTargetPoint").value_or({});
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movingModelParams.trackingCycleInterval =
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getValue<decltype(movingModelParams.trackingCycleInterval)>("trackingCycleInterval").value_or({});
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// PCM data
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pcmData.type = getValue<decltype(pcmData.type)>("pcmType").value_or({});
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pcmData.siteLatitude = getValue<mcc::MccAngle>("siteLatitude").value_or({});
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pid = getValue<std::vector<double>>("pcmGeomCoeffs").value_or({});
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if (pid.size() >= 9) { // must be 9 coefficients
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pcmData.geomCoefficients = {.zeroPointX = pid[0],
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.zeroPointY = pid[1],
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.collimationErr = pid[2],
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.nonperpendErr = pid[3],
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.misalignErr1 = pid[4],
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.misalignErr2 = pid[5],
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.tubeFlexure = pid[6],
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.forkFlexure = pid[7],
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.DECaxisFlexure = pid[8]};
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}
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std::vector<size_t> dd = getValue<decltype(dd)>("pcmBsplineDegree").value_or({});
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if (dd.size() >= 2) {
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pcmData.bspline.bsplDegreeX = dd[0] > 0 ? dd[0] : 3;
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pcmData.bspline.bsplDegreeY = dd[1] > 0 ? dd[1] : 3;
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}
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pid = getValue<std::vector<double>>("pcmBsplineXknots").value_or({});
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// pid must contains interior and border (single point for each border) knots so minimal length must be 2
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if (pid.size() >= 2) {
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// generate full knots array (with border knots)
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size_t Nknots = pid.size() + pcmData.bspline.bsplDegreeX * 2 - 2;
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pcmData.bspline.knotsX.resize(Nknots);
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for (size_t i = 0; i <= pcmData.bspline.bsplDegreeX; ++i) { // border knots
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pcmData.bspline.knotsX[i] = pid[0];
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pcmData.bspline.knotsX[Nknots - i - 1] = pid.back();
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}
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for (size_t i = 0; i < (pid.size() - 2); ++i) { // interior knots
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pcmData.bspline.knotsX[i + pcmData.bspline.bsplDegreeX] = pid[1 + i];
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}
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}
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pid = getValue<std::vector<double>>("pcmBsplineYknots").value_or({});
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// pid must contains interior and border (single point for each border) knots so minimal length must be 2
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if (pid.size() >= 2) {
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// generate full knots array (with border knots)
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size_t Nknots = pid.size() + pcmData.bspline.bsplDegreeY * 2 - 2;
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pcmData.bspline.knotsY.resize(Nknots);
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for (size_t i = 0; i <= pcmData.bspline.bsplDegreeY; ++i) { // border knots
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pcmData.bspline.knotsY[i] = pid[0];
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pcmData.bspline.knotsY[Nknots - i - 1] = pid.back();
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}
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for (size_t i = 0; i < (pid.size() - 2); ++i) { // interior knots
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pcmData.bspline.knotsY[i + pcmData.bspline.bsplDegreeY] = pid[1 + i];
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}
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}
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// minimal allowed number of B-spline coefficients
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size_t Ncoeffs = pcmData.type == mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY
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? 0
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: (pcmData.bspline.knotsX.size() - pcmData.bspline.bsplDegreeX - 1) *
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(pcmData.bspline.knotsY.size() - pcmData.bspline.bsplDegreeY - 1);
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pid = getValue<std::vector<double>>("pcmBsplineXcoeffs").value_or({});
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if (pid.size() >= Ncoeffs) {
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pcmData.bspline.coeffsX.resize(Ncoeffs);
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for (size_t i = 0; i < Ncoeffs; ++i) {
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pcmData.bspline.coeffsX[i] = pid[i];
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}
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}
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pid = getValue<std::vector<double>>("pcmBsplineYcoeffs").value_or({});
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if (pid.size() >= Ncoeffs) {
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pcmData.bspline.coeffsY.resize(Ncoeffs);
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for (size_t i = 0; i < Ncoeffs; ++i) {
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pcmData.bspline.coeffsY[i] = pid[i];
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}
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}
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}
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public:
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std::chrono::milliseconds hardwarePollingPeriod{};
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mcc::MccAngle siteLatitude{};
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mcc::MccAngle siteLongitude{};
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double siteElevation{};
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double refractWavelength{};
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std::string leapSecondFilename{};
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std::string bulletinAFilename{};
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mcc::MccAngle pzMinAltitude{};
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mcc::MccAngle pzLimitSwitchHAMin{};
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mcc::MccAngle pzLimitSwitchHAMax{};
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AsibFM700ServoController::hardware_config_t servoControllerConfig{};
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mcc::MccSimpleMovingModelParams movingModelParams{};
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Asibfm700PCM::pcm_data_t pcmData{};
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Asibfm700MountConfig() : base_t(Asibfm700MountConfigDefaults) {}
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~Asibfm700MountConfig() = default;
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std::error_code load(const std::filesystem::path& path)
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{
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std::string buffer;
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std::error_code ec;
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auto sz = std::filesystem::file_size(path, ec);
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if (!ec && sz) {
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std::ifstream fst(path);
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try {
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buffer.resize(sz);
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fst.read(buffer.data(), sz);
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fst.close();
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ec = base_t::fromCharRange(buffer, deserializer);
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if (!ec) {
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updateAll();
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}
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} catch (std::ios_base::failure const& ex) {
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ec = ex.code();
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} catch (std::length_error const& ex) {
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ec = std::make_error_code(std::errc::no_buffer_space);
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} catch (std::bad_alloc const& ex) {
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ec = std::make_error_code(std::errc::not_enough_memory);
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} catch (...) {
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ec = std::make_error_code(std::errc::operation_canceled);
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}
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}
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return ec;
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}
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template <typename T>
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std::error_code setValue(std::string_view key, const T& value)
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{
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auto ec = base_t::setValue(key, value);
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if (!ec) {
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updateAll();
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}
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return ec;
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}
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};
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class Asibfm700MountConfig2 : protected ConfigHolder<decltype(Asibfm700MountConfigDefaults)>
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{
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using base_t = ConfigHolder<decltype(Asibfm700MountConfigDefaults)>;
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@@ -481,12 +786,12 @@ public:
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using base_t::update;
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using base_t::value;
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Asibfm700MountConfig() : base_t(Asibfm700MountConfigDefaults)
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Asibfm700MountConfig2() : base_t(Asibfm700MountConfigDefaults)
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{
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updateAll();
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}
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~Asibfm700MountConfig() = default;
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~Asibfm700MountConfig2() = default;
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std::error_code load(const std::filesystem::path& path)
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{
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@@ -56,15 +56,18 @@ int main()
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fst.close();
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asibfm700::Asibfm700MountConfig acfg;
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// asibfm700::Asibfm700MountConfig2 acfg;
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auto ec = acfg.load("/tmp/cfg.cfg");
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std::cout << "EC (load) = " << ec.message() << "\n";
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std::cout << "refr w: " << acfg.refractWavelength << "\n";
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acfg.update("refractWavelength", 0.3);
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// acfg.update("refractWavelength", 0.3);
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acfg.setValue("refractWavelength", 0.3);
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auto e = acfg.value<double>("refractWavelength");
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auto e = acfg.getValue<double>("refractWavelength");
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// auto e = acfg.value<double>("refractWavelength");
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std::cout << "refr w: " << e.value_or(0.0) << "\n";
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std::cout << "refr w: " << acfg.refractWavelength << "\n";
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@@ -78,5 +81,19 @@ int main()
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std::cout << "kvh[C] = " << vs.value_or("<no value>") << "\n";
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}
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ec = kvh.fromCharRange(cfg_str);
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if (ec) {
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std::cout << "EC = " << ec.message() << "\n";
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} else {
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v3 = kvh.getValue<std::vector<int>>("E");
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std::cout << "[";
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for (auto& el : v3.value_or({0, 0, 0})) {
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std::cout << el << " ";
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}
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std::cout << "]\n";
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}
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return 0;
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}
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Block a user